DocumentCode :
233007
Title :
On the shortest path planning for the carangiform robotic fish
Author :
Liu Chang ; Chen Songlin ; Jianxun Wang ; Xiaobo Tan
Author_Institution :
Control & Simulation Center, Harbin Inst. of Technol., Harbin, China
fYear :
2014
fDate :
28-30 July 2014
Firstpage :
7835
Lastpage :
7840
Abstract :
Considering the under-actuated characteristic of the carangiform robotic fish whose forward movement and turning are carried out by its single caudal fin, this paper investigates its shortest path planning problem subjected to the terminal constrains. First, a simplified kinematics model is proposed in view of its locomotion characteristic. With this model, the shortest path planning is transformed into the shortest time optimal control problem and the maximum principle is employed to obtain the necessary condition. Furthermore, based on the analysis on the relationship between the length of all feasible paths and the terminal condition, the sufficient and necessary conditions are derived for the shortest path under any terminal constrains. Finally, a program developed with Matlab verifies the effectiveness of the proposed results.
Keywords :
legged locomotion; maximum principle; path planning; robot kinematics; Matlab; carangiform robotic fish; locomotion characteristic; maximum principle; shortest path planning problem; shortest time optimal control problem; simplified kinematics model; sufficient and necessary conditions; terminal condition; terminal constrain; underactuated characteristic; Electronic mail; Field-flow fractionation; Marine animals; Path planning; Robot kinematics; Turning; carangiform robotic fish; maximum principle; shortest path;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
Type :
conf
DOI :
10.1109/ChiCC.2014.6896308
Filename :
6896308
Link To Document :
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